From f3a323f30bf4b2eff864bcb049ab1b98b74eae4e Mon Sep 17 00:00:00 2001
From: Ryan Blue <ryanzblue@gmail.com>
Date: Mon, 21 Oct 2024 17:13:28 -0400
Subject: [PATCH] Force SendableRegistry initialization

---
 wpilibc/src/main/native/cpp/Alert.cpp                       | 4 ++++
 wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp   | 4 ++++
 .../src/main/native/include/wpi/sendable/SendableRegistry.h | 6 ++++++
 3 files changed, 14 insertions(+)

diff --git a/wpilibc/src/main/native/cpp/Alert.cpp b/wpilibc/src/main/native/cpp/Alert.cpp
index c9267ad03e0..0ea53ea89e3 100644
--- a/wpilibc/src/main/native/cpp/Alert.cpp
+++ b/wpilibc/src/main/native/cpp/Alert.cpp
@@ -14,6 +14,7 @@
 
 #include <fmt/format.h>
 #include <networktables/NTSendableBuilder.h>
+#include <wpi/sendable/SendableRegistry.h>
 
 #include "frc/Errors.h"
 #include "frc/smartdashboard/SmartDashboard.h"
@@ -21,6 +22,9 @@
 using namespace frc;
 
 Alert::SendableAlerts& Alert::GetGroupSendable(std::string_view group) {
+  // Force initialization of SendableRegistry before our magic static to prevent
+  // incorrect destruction order.
+  wpi::SendableRegistry::EnsureInitialized();
   static wpi::StringMap<Alert::SendableAlerts> groups;
 
   auto [iter, exists] = groups.try_emplace(group);
diff --git a/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp b/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
index c2b6b8ede77..99ff7f5e1ab 100644
--- a/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
+++ b/wpiutil/src/main/native/cpp/sendable/SendableRegistry.cpp
@@ -81,6 +81,10 @@ void ResetSendableRegistry() {
 }  // namespace wpi::impl
 #endif
 
+void SendableRegistry::EnsureInitialized() {
+  GetInstance();
+}
+
 void SendableRegistry::SetLiveWindowBuilderFactory(
     std::function<std::unique_ptr<SendableBuilder>()> factory) {
   GetInstance().liveWindowFactory = std::move(factory);
diff --git a/wpiutil/src/main/native/include/wpi/sendable/SendableRegistry.h b/wpiutil/src/main/native/include/wpi/sendable/SendableRegistry.h
index 463974930ba..37ed45fe192 100644
--- a/wpiutil/src/main/native/include/wpi/sendable/SendableRegistry.h
+++ b/wpiutil/src/main/native/include/wpi/sendable/SendableRegistry.h
@@ -26,6 +26,12 @@ class SendableRegistry final {
 
   using UID = size_t;
 
+  /**
+   * Initializes the SendableRegistry. This is used to ensure initialization and
+   * destruction order relative to Sendables.
+   */
+  static void EnsureInitialized();
+
   /**
    * Sets the factory for LiveWindow builders.
    *